version: 66.04
glider: 144
mission: 15
dive: 878
start: 4 2 110 13 43 6
data:
$ID,144
$MISSION,15
$DIVE,878
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,600
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-79470.078
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,133006,4825.188,-12745.517,41,1.9,41,19.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-46.3
$GPS2,134208,4825.298,-12745.569,12,1.1,12,19.2
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P4
$TGT_LATLONG,4839.000,-12640.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.142,0.090
$KALMAN_X,-88160.9,99.3,147.6,1322842.9,-3138.3
$KALMAN_Y,128760.3,465.5,187.2,-343660.5,-2602.8
$MHEAD_RNG_PITCHd_Wd,38.3,84145,-12.3,-5.500
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,79,0.00,0.00,-59.45,0.000,2,0.000,0.000,98,2301,2545
$GC,84,-0.68,-117.3,3.4,-3.3,3,120,6.97,2.38,-21.98,0.000,4,0.223,0.058,1840,3705,3412
$GC,228,-0.61,-117.3,21.3,-10.8,9,233,0.10,2.25,0.00,0.000,6,0.131,0.030,1865,2288,3413
$GC,556,-0.61,-117.3,51.6,-7.0,25,560,0.00,2.25,0.00,0.000,4,0.000,0.041,1865,893,3413
$GC,650,-0.61,-117.3,58.5,-7.5,29,654,0.00,2.25,0.00,0.000,6,0.000,0.036,1863,2301,3413
$GC,973,-0.64,-117.3,90.9,-8.6,50,977,0.00,2.33,0.00,0.000,4,0.000,0.045,1852,3713,3413
$GC,1008,-0.67,-117.3,94.2,-9.4,52,1014,0.00,2.17,0.00,0.000,6,0.000,0.028,1852,2301,3413
$GC,1341,-0.70,-117.3,119.1,-6.9,83,1345,0.00,2.28,0.00,0.000,4,0.000,0.038,1852,893,3413
$GC,1427,-0.75,-117.3,126.5,-8.1,90,1433,0.00,2.33,0.00,0.000,6,0.000,0.039,1850,2312,3413
$GC,1760,-0.78,-117.3,150.8,-7.4,121,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2313,3413
$GC,2061,-0.81,-117.3,174.3,-7.6,131,2065,0.10,2.33,0.00,0.000,4,0.064,0.043,1768,895,3413
$GC,2096,-0.71,-117.3,178.1,-11.3,132,2101,0.30,2.28,0.00,0.000,6,0.110,0.042,1844,2302,3413
$GC,2428,-0.74,-117.3,201.9,-6.7,143,2433,0.00,2.33,0.00,0.000,4,0.000,0.045,1844,900,3413
$GC,2470,-0.79,-117.3,204.9,-6.8,144,2474,0.00,2.30,0.00,0.000,6,0.000,0.042,1838,2307,3413
$GC,2797,-0.81,-117.3,227.7,-7.1,155,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2307,3413
$GC,3102,-0.83,-117.3,249.1,-6.9,165,3106,0.00,2.28,0.00,0.000,4,0.000,0.039,1838,902,3413
$GC,3143,-0.87,-117.3,252.0,-6.8,166,3148,0.10,2.30,0.00,0.000,6,0.064,0.041,1768,2303,3413
$GC,3475,-0.76,-117.3,286.9,-10.6,177,3479,0.20,2.33,0.00,0.000,4,0.120,0.042,1834,898,3412
$GC,3522,-0.80,-117.3,290.7,-7.0,178,3526,0.00,2.28,0.00,0.000,6,0.000,0.037,1828,2301,3413
$GC,3846,-0.80,-117.3,313.4,-7.2,186,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2301,3412
$GC,4149,-0.80,-117.3,336.8,-7.8,191,4153,0.00,2.28,0.00,0.000,4,0.000,0.045,1828,900,3412
$GC,4202,-0.82,-117.3,341.2,-8.3,191,4206,0.00,2.30,0.00,0.000,6,0.000,0.044,1821,2309,3411
$GC,4524,-0.82,-117.3,367.0,-8.0,197,4528,0.00,2.28,0.00,0.000,4,0.000,0.042,1821,903,3411
$GC,4581,-0.82,-117.3,371.6,-8.0,197,4585,0.00,2.28,0.00,0.000,6,0.000,0.041,1812,2306,3411
$GC,4899,-0.82,-117.3,396.4,-7.8,203,4903,0.00,2.28,0.00,0.000,4,0.000,0.048,1812,904,3411
$GC,4946,-0.82,-117.3,400.2,-7.9,203,4950,0.00,2.33,0.00,0.000,6,0.000,0.037,1808,2307,3411
$GC,5274,-0.82,-117.3,425.2,-7.6,209,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3411
$GC,5577,-0.82,-117.3,448.9,-7.8,214,5581,0.00,2.35,0.00,0.000,4,0.000,0.045,1808,896,3409
$GC,5636,-0.82,-117.3,453.6,-8.3,214,5640,0.10,2.33,0.00,0.000,6,0.121,0.037,1825,2307,3410
$GC,5948,-0.82,-117.3,474.9,-6.7,219,5952,0.00,2.30,0.00,0.000,4,0.000,0.042,1825,899,3409
$GC,6012,-0.86,-117.3,479.8,-7.4,220,6016,0.00,2.35,0.00,0.000,6,0.000,0.038,1823,2311,3409
$GC,6379,-0.86,-117.3,506.4,-7.4,226,6383,0.00,2.35,0.00,0.000,4,0.000,0.041,1822,894,3409
$GC,6445,-0.90,-117.3,511.2,-7.4,227,6449,0.00,2.35,0.00,0.000,6,0.000,0.044,1820,2310,3408
$GC,6818,-0.92,-117.3,537.5,-7.0,233,6822,0.00,2.35,0.00,0.000,4,0.000,0.048,1809,3708,3408
$GC,6870,-0.95,-117.3,541.4,-7.3,233,6874,0.00,2.25,0.00,0.000,6,0.000,0.037,1809,2296,3408
$GC,7193,-0.95,-117.3,566.6,-7.8,239,7197,0.00,2.28,0.00,0.000,4,0.000,0.041,1809,895,3408
$GC,7239,-0.95,-117.3,570.7,-8.6,239,7243,0.00,2.35,0.00,0.000,6,0.000,0.044,1807,2311,3407
$GC,7568,-0.95,-117.3,598.6,-8.6,245,7572,0.00,2.38,0.00,0.000,4,0.000,0.047,1807,899,3407
$GC,7626,-0.95,-117.3,604.1,-8.9,245,7632,0.00,2.35,0.00,0.000,6,0.000,0.041,1797,2306,3407
$GC,7939,-0.93,-117.3,631.8,-8.9,251,7943,0.00,2.30,0.00,0.000,4,0.000,0.041,1797,901,3407
$GC,8024,-0.93,-117.3,640.0,-9.7,252,8028,0.00,2.35,0.00,0.000,6,0.000,0.041,1794,2303,3407
$GC,8370,-0.90,-117.3,669.0,-8.3,258,8374,0.00,2.35,0.00,0.000,4,0.000,0.041,1794,900,3407
$GC,8428,-0.90,-117.3,673.8,-8.0,258,8434,0.00,2.30,0.00,0.000,6,0.000,0.038,1785,2303,3406
$GC,8740,-0.86,-117.3,698.2,-7.8,264,8744,0.10,2.38,0.00,0.000,4,0.133,0.041,1814,892,3406
$GC,8792,-0.89,-117.3,701.7,-6.0,264,8796,0.00,2.35,0.00,0.000,6,0.000,0.041,1809,2307,3406
$GC,9115,-0.89,-117.3,720.0,-5.6,270,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2307,3405
$GC,9417,-0.89,-117.3,736.4,-5.5,275,9422,0.00,2.38,0.00,0.000,4,0.000,0.041,1809,900,3405
$GC,9509,-0.89,-117.3,742.0,-6.1,276,9513,0.00,2.35,0.00,0.000,6,0.000,0.043,1808,2307,3405
$GC,9847,-0.89,-117.3,762.9,-6.3,282,9849,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3405
$GC,10152,-0.89,-117.3,784.1,-7.0,287,10153,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2307,3405
$GC,10453,-0.89,-117.3,805.7,-7.0,292,10458,0.00,2.40,0.00,0.000,4,0.000,0.043,1808,898,3404
$GC,10494,-0.89,-117.3,808.7,-7.2,292,10498,0.00,2.38,0.00,0.000,6,0.000,0.042,1808,2306,3404
$GC,10817,-0.89,-117.3,830.3,-6.6,298,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3404
$GC,11121,-0.89,-117.3,849.9,-6.4,303,11125,0.00,2.38,0.00,0.000,4,0.000,0.044,1808,900,3404
$GC,11184,-0.89,-117.3,854.5,-7.3,304,11188,0.00,2.38,0.00,0.000,6,0.000,0.044,1806,2312,3404
$GC,11552,-0.89,-117.3,877.2,-6.2,310,11556,0.00,2.40,0.00,0.000,4,0.000,0.048,1805,893,3404
$GC,11599,-0.89,-117.3,880.3,-6.5,310,11603,0.00,2.38,0.00,0.000,6,0.000,0.038,1796,2308,3404
$GC,11916,-0.89,-117.3,901.0,-6.6,316,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2309,3403
$GC,12219,-0.89,-117.3,921.6,-6.8,321,12220,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2308,3403
$GC,12522,-0.89,-117.3,943.6,-7.3,326,12526,0.00,2.40,0.00,0.000,4,0.000,0.050,1796,899,3403
$GC,12588,-0.89,-117.3,948.6,-7.4,327,12592,0.00,2.38,0.00,0.000,6,0.000,0.040,1794,2309,3403
$GC,12955,-0.89,-117.3,976.2,-7.4,333,12956,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2309,3403
$STATE,13192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13192,begin apogee
$GC,13203,-0.22,0.0,994.3,7.5,337,13303,0.50,0.00,97.20,1.272,6,0.108,0.000,1952,2309,2930
$STATE,13303,end apogee,CONTROL_FINISHED_OK
$STATE,13303,begin climb
$GC,13308,0.68,117.3,996.3,0.0,338,13419,0.60,0.00,105.18,1.242,6,0.067,0.000,2154,2309,2451
$GC,13749,0.56,117.3,979.5,6.2,346,13751,0.15,0.00,0.00,0.000,6,0.150,0.000,2116,2309,2441
$GC,14047,0.53,129.5,963.6,5.1,351,14061,0.00,2.33,9.60,1.064,4,0.000,0.055,2116,3717,2402
$GC,14105,0.44,129.5,960.0,6.6,351,14110,0.12,2.25,0.00,0.000,6,0.152,0.033,2095,2309,2401
$GC,14417,0.48,161.2,945.7,4.4,356,14447,0.00,0.00,28.30,1.193,6,0.000,0.000,2095,2308,2273
$GC,14720,0.57,174.0,930.8,5.1,361,14739,0.10,2.40,11.80,1.091,4,0.078,0.049,2154,886,2221
$GC,14789,0.50,174.0,926.4,6.6,362,14794,0.17,2.30,0.00,0.000,6,0.135,0.044,2108,2305,2219
$GC,15162,0.51,187.6,907.4,5.0,368,15181,0.00,2.38,12.52,1.089,4,0.000,0.055,2108,3714,2165
$GC,15258,0.51,187.6,901.4,6.0,369,15262,0.00,2.25,0.00,0.000,6,0.000,0.038,2116,2300,2164
$GC,15597,0.52,189.7,882.6,5.4,375,15601,0.00,2.35,0.00,0.000,4,0.000,0.054,2116,3717,2162
$GC,15638,0.48,189.7,880.0,6.7,375,15642,0.10,2.25,0.00,0.000,6,0.150,0.034,2103,2303,2162
$GC,15962,0.55,225.1,865.7,4.3,381,15997,0.00,0.00,33.10,1.154,6,0.000,0.000,2103,2303,2013
$GC,16326,0.64,254.0,849.5,4.5,387,16355,0.12,0.00,25.92,1.127,6,0.063,0.000,2163,2303,1895
$GC,16629,0.57,254.0,825.1,8.3,392,16634,0.15,2.33,0.00,0.000,4,0.126,0.048,2122,3717,1888
$GC,16670,0.57,254.0,821.9,6.7,392,16674,0.00,2.25,0.00,0.000,6,0.000,0.035,2130,2299,1888
$GC,16993,0.57,254.0,802.4,6.0,398,16994,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2299,1887
$GC,17296,0.57,254.0,783.8,6.1,403,17300,0.00,2.38,0.00,0.000,4,0.000,0.053,2130,3708,1886
$GC,17330,0.57,254.0,781.3,6.3,403,17335,0.00,2.28,0.00,0.000,6,0.000,0.038,2140,2291,1885
$GC,17660,0.57,254.0,757.1,7.4,409,17664,0.00,2.38,0.00,0.000,4,0.000,0.048,2140,3713,1885
$GC,17706,0.54,254.0,753.1,9.1,409,17711,0.12,2.22,0.00,0.000,6,0.128,0.031,2117,2304,1885
$GC,18036,0.58,254.0,733.3,5.9,415,18040,0.00,2.30,0.00,0.000,4,0.000,0.044,2125,894,1885
$GC,18066,0.64,254.0,731.4,6.0,415,18070,0.00,2.30,0.00,0.000,6,0.000,0.040,2126,2314,1884
$GC,18406,0.66,254.0,710.0,6.3,421,18410,0.00,2.33,0.00,0.000,4,0.000,0.048,2126,3717,1884
$GC,18463,0.66,254.0,705.8,7.5,421,18469,0.00,2.25,0.00,0.000,6,0.000,0.032,2135,2300,1884
$GC,18774,0.66,254.0,684.7,6.8,427,18775,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2300,1884
$GC,19078,0.66,254.0,664.5,6.7,432,19082,0.00,2.38,0.00,0.000,4,0.000,0.049,2135,3709,1884
$GC,19129,0.66,254.0,660.2,8.2,432,19134,0.00,2.25,0.00,0.000,6,0.000,0.031,2145,2295,1884
$GC,19441,0.66,254.0,637.0,7.4,437,19442,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2295,1884
$GC,19744,0.66,254.0,614.8,7.3,442,19748,0.00,2.40,0.00,0.000,4,0.000,0.046,2145,3712,1884
$GC,19780,0.63,254.0,611.7,9.3,442,19784,0.00,2.28,0.00,0.000,6,0.000,0.036,2155,2299,1884
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$STATE,28165,end climb,SURFACE_DEPTH_REACHED
$STATE,28165,begin surface coast
$FINISH,1.6,1.024302
$STATE,28186,end surface coast,CONTROL_FINISHED_OK
$STATE,28187,begin surface
$SM_CCo,28268,0.00,0.000,0,0,1299,400.33
$SM_GC,1.79,5.60,0.00,0.00,0.026,0.000,0.000,98,2310,1299,-8.61,0.20,400.33
$IRIDIUM_FIX,4811.07,-12745.39,270699,131330
$TT8_MAMPS,0.03068
$HUMID,1770
$INTERNAL_PRESSURE,7.41239
$TCM_TEMP,16.60
$XPDR_PINGS,162
$24V_AH,21.4,126.719
$10V_AH,8.3,106.495
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.450,231.250,448.550,0.000,0.000,56.429,74.358,324.376,40.500,0.000,0.000,14.226,1637.946,23110.404,595.354,2347.776,1281.409,33.387,1841.952,0.000,2318.433,0.000,0.530,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,483.207,574.693,715.197,727.027,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41129,690
$CAP_FILE_SIZE,187422,0
$CFSIZE,260165632,190345216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,020410,213639,4825.702,-12743.491,99,1.5,99,19.2